The invention relates to a parallel hip joint mechanism and a robot. The parallel hip joint mechanism comprises a fixed base; the leg unit comprises a thigh part, and the thigh part is movably connected with the fixed base; the connecting unit comprises a first connecting rod and a second connecting rod which are equal in length; the driving unit comprises a first driving part and a second driving part, and the first driving part and the second driving part are arranged on the fixed base; the output end of the first driving part is connected with the thigh part through a first connecting rod, the output end of the second driving part is connected with the thigh part through a second connecting rod, and the second connecting rod is movably connected with the thigh part. The mechanism is simple in structure, low in cost, large in rigidity, high in action precision and capable of bearing larger loads, and under the condition that the number and parameters of the used driving units are not changed, the two driving parts jointly act on torque output of a sagittal plane or a coronal plane through coordinated control of the two driving parts, so that the driving efficiency is improved. Therefore, the output torque of the hip joint on the degree of freedom in two directions can be larger.

    本发明涉及一种并联式髋关节机构及机器人,包括固定基座;腿部单元,其包括大腿部,大腿部与所述固定基座活动连接;连接单元,其包括长度相等的第一连接杆和第二连接杆;驱动单元,其包括第一驱动件和第二驱动件,第一驱动件和第二驱动件设置于所述固定基座;第一驱动件的输出端通过第一连接杆与所述大腿部相连,第二驱动件的输出端通过第二连接杆与大腿部相连,且所述第二连接杆与大腿部活动连接。本发明结构简单,成本低,具有较大的刚度,动作精度高,能够承担更大的负载,在不改变使用驱动单元个数和参数的情况下,通过两个驱动件的协调控制,共同作用于矢状面或冠状面的力矩输出,使得髋关节在两个方向的自由度上输出的力矩可以更大。


    Access

    Download


    Export, share and cite



    Title :

    Parallel hip joint mechanism and robot


    Additional title:

    一种并联式髋关节机构及机器人


    Contributors:
    LI WEIDA (author) / LI JUAN (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    JOINT ENERGY STORAGE ASSISTANCE MECHANISM, ROBOT JOINT STRUCTURE, AND ROBOT

    HUANG ZHONGKUI / XIE ZHENG / DING HONGYU et al. | European Patent Office | 2022

    Free access

    Hip joint mechanism and humanoid robot

    HUANG LIANG / DING HONGYU / XIONG YOUJUN | European Patent Office | 2024

    Free access

    HIP JOINT MECHANISM AND HUMANOID ROBOT

    HUANG LIANG / DING HONGYU / XIONG YOUJUN | European Patent Office | 2021

    Free access

    Parallel elastic driving joint based on foot robot and driving method of parallel elastic driving joint

    JIANG LEI / SONG ZHIBIN / ZENG YI et al. | European Patent Office | 2024

    Free access

    Flexible ankle joint mechanism of walking robot and walking robot

    CHEN GENLIANG / TANG SHUJIE / LU YULIANG et al. | European Patent Office | 2025

    Free access